CN108377740A - A kind of automatic seed harvester of fruit - Google Patents
A kind of automatic seed harvester of fruit Download PDFInfo
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- CN108377740A CN108377740A CN201810337518.2A CN201810337518A CN108377740A CN 108377740 A CN108377740 A CN 108377740A CN 201810337518 A CN201810337518 A CN 201810337518A CN 108377740 A CN108377740 A CN 108377740A
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- pedestal
- fruit
- clamping jaw
- driving
- pivotally connected
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
Abstract
The invention discloses a kind of automatic seed harvesters of fruit, including mechanical device, mechanical device to include：Engine base, picker, wherein picker includes the crane being set on engine base, lift drive mechanism, the pedestal on crane, translational drive mechanism, and clip claw assembly and cutting assemblies set on pedestal front end, mechanical device further includes collection device, collection device includes guide platform and the collecting mechanism that is divided into below guide platform both ends, every group of collecting mechanism includes pedestal, rotating disk, and the rotary drive for driving rotation disc spins；Mechanical device further includes doffer, with feeding mouth and discharge port.The automatic seed harvester high degree of automation of fruit of the present invention, and the picking fruit of various environment is adapted to, collecting, fruit arrangement is uniform, after charging basket fills fruit, can realize and move basket certainly.
Description
Technical field
The present invention relates to a kind of automatic seed harvesters of fruit.
Background technology
During orchard and farm mechanization increasingly, the picking process for needing a large amount of labours originally to carry out is inevitable
Gradually replaced by intelligent robot picking.However in Vehicles Collected from Market, the function can be realized there are no appearance maturation
The device of fruit picking.It often will appear problems in picking process：1, fruit-picking needs a large amount of labours；2, fruit
Height is unevenly distributed, and distance is indefinite, and picker is difficult to adapt to the picking work of various dimensions；3, fruit is in collection device
Stacking out-of-flatness causes wasting space or even fruit that can shed from collection device；4, work as collection device（Such as collect basket）It fills
After fruit, the empty basket that manpower goes more to renew is generally required, there is inconvenience in when work more.
Invention content
The purpose of the invention is to overcome the prior art, a kind of automatic seed harvester of novel fruit is provided.
In order to achieve the above objectives, the technical solution adopted by the present invention is：A kind of automatic seed harvester of fruit, including machinery dress
It sets, the mechanical device includes：
Engine base, the travel driving unit with automatic traveling mechanism and for driving the automatic traveling mechanism work；
Picker comprising can along the vertical direction up and down be set to the engine base on crane, for driving the liter
The lift drive mechanism for dropping frame lifting, is used the pedestal that can be set to along the longitudinal direction with respect to sliding extension on the crane
In the translational drive mechanism for driving the relatively described crane of the pedestal to stretch along the longitudinal direction, and it is set to the pedestal front end
The clip claw assembly and cutting assemblies in portion,
Wherein, the clip claw assembly includes the first clamping jaw and the second clamping jaw that rear end is pivotally connected in respectively on the pedestal,
And first clamping jaw and the second clamping jaw is set to relatively rotate for driving first clamping jaw and the second clamping jaw to relatively rotate
The clamping jaw driving mechanism opened or be closed, the front end of the front end of first clamping jaw and second clamping jaw formed for pair
The clamping part that fruit is clamped；The cutting assemblies are set to the front end of the pedestal and positioned at the upper of the clip claw assembly
Side, the cutting assemblies include scissors, and the scissors has the first knife that rear portion intersects and connected in infall phase pivot
Sword bar and the second blade bar, the first blade bar and the second blade bar have cooperate for the root to the fruit into
The cut part of row shearing, the cut part are located at the top of the clamping part, and the cutting assemblies further include described for driving
First blade bar opening opposite with the second blade bar or the opposite shear driving mechanism closed up；
Collection device, including the guide platform being obliquely installed along the vertical direction and two groups be divided into below guide platform both ends
Collecting mechanism, the guide platform have the guide channel that extends along its length, the upper end of the guide platform be further opened with
The guide channel is connected and charging conduit perforative along the vertical direction, and the groove width of the charging conduit is less than the guide channel
Width, collecting mechanism described in every group include pedestal, around vertical direction extend axial line rotatably be set to the pedestal on and
Rotating disk for putting charging basket, and the rotary drive for driving the rotation disc spins；
Doffer, with feeding mouth and discharge port, the feeding mouth is located under the clamping part of the clip claw assembly
Side, the discharge port connect with the top in the guide channel.
Preferably, the seed harvester further includes control system, and the control system includes：
Fruit identification device includes for acquiring taking the photograph for image in the visual field in real time during the automatic traveling mechanism is walked
Image as head, for taking the camera carries out color contrast with preset image and knows when the two color is identical
Not Wei ripening fruits target marker,
Position sensor is connect with the fruit identification device signal, and the position sensor is identified in the target marker
The centre coordinate of the ripening fruits is obtained when going out ripening fruits；
Controller connects with the position sensor, travel driving unit, lift drive mechanism and translational drive mechanism signal respectively
It connects, the controller controls the travel driving unit according to the centre coordinate that the position sensor obtains, lifting is driven
The working condition of motivation structure and translational drive mechanism.
Preferably, the automatic traveling mechanism is creeper undercarriage, the flexible side of pedestal described in the picker
It is mutually perpendicular to the direction advanced with the creeper undercarriage.
Preferably, the bottom of the engine base is equipped with the tracing sensor found and preset track route label, and the walking is driven
Dynamic device connect with the tracing sensor signal and controls the walking according to the route information that the tracing sensor obtains
The working condition of driving device.
Preferably, in the collecting mechanism, the center line that the pedestal can extend around horizontal direction is rotatably disposed at
It is also fixedly provided with charging basket on the engine base, on the engine base and keeps in seat, the charging basket keeps in the side that seat is set to the pedestal,
The charging basket, which keeps in seat tool, the housing region of accommodating multiple charging baskets, and the collection device further includes for driving described
Seat keeps in the turnover driving mechanism of seat overturning towards the charging basket.
It is further preferred that the turnover driving mechanism includes the silk being rotatably set to around Pivot Point Center line on the engine base
Thick stick, the nut being ordinatedly set on the leading screw, turn drive motor and provided at one for driving the leading screw rotation
Be connected on the nut and the other end be pivotally connected in the mandril on the pedestal, the pedestal have collection work state with
A basket working condition is changed, when the pedestal is in collection work state, the rotating disk is horizontally disposed；It is changed when the pedestal is in
When basket working condition, the pedestal overturns and so that the rotating disk is kept in seat towards the charging basket and tilt.
It is further preferred that the charging basket keeps in the same side that seat is set to collecting mechanism described in two groups, the overturning is driven
Motivation structure drives two pedestals to keep in seat overturning simultaneously towards the charging basket, wherein
The turnover driving mechanism is set as one group, and two pedestals of collecting mechanism described in two groups are fixedly connected or one
Setting；Alternatively, two pedestal split settings of collecting mechanism described in two groups, there are two described for the turnover driving mechanism tool
Mandril, the upper end of two mandrils connect with two pedestal phase pivots respectively, the lower end of two mandrils
It is pivotally connected in respectively on the nut.
Preferably, the doffer includes the material blanking tube, vertically of the fruit for accepting picker acquisition
Direction, which tilts, to be extended and upper end is pivotally connected in clean and jerk arm on guide platform upper end and for driving the clean and jerk
The clean and jerk actuator that arm is overturn in the vertical direction, the material blanking tube vertically extend, and the lower tube of the material blanking tube
Mouth connects with the lower part of the clean and jerk arm, has the material transfer channel extended along its length on the clean and jerk arm,
Blanking funnel is fixedly provided in the upper end tube nozzle of the material blanking tube, the blanking funnel is located under the clamping part
The oral area of side, the blanking funnel forms the feeding mouth；The upper end oral area in the material transfer channel forms the discharge port.
Preferably, the clamping jaw driving mechanism includes clamping jaw driving cylinder, and the cylinder body of the clamping jaw driving cylinder is fixed on
On the pedestal and its telescopic rod extends along the longitudinal direction, and the front end of the telescopic rod, which is permanently connected, drive block, and described
The rear end of one clamping jaw is pivotally connected in by first axle on the pedestal, and the rear end of second clamping jaw is connected by the second axis pivot
Be connected on the pedestal, the clamping jaw driving mechanism further include one end be pivotally connected on first clamping jaw by third axis and
First connecting rod that the other end is pivotally connected on the drive block, one end are pivotally connected in by the 4th axis on second clamping jaw
And the other end is pivotally connected in the second connecting rod on the drive block, wherein the third axle position in the clamping part with it is described
Between first axle, the 4th axle position is between the clamping part and second axis.
Preferably, the shear driving mechanism includes shearing driving cylinder, and the cylinder body of the shearing driving cylinder is fixedly arranged on
On the pedestal and the axial line of its telescopic rod extends along the longitudinal direction, and the shear driving mechanism further includes drive rod, described
The back pivot of drive rod is connected on the front end of the telescopic rod, and the front of the drive rod is pivotally connected in second knife
On the rear portion of sword bar, the rear portion of the first blade bar is fixedly attached on the pedestal.
Due to the application of the above technical scheme, the present invention has following advantages compared with prior art：1, water of the invention
The automatic seed harvester high degree of automation of fruit, it is low to artificial degree of dependence, the labor cost in picking process can be reduced；2、
The automatic seed harvester of fruit of the present invention adapts to the picking fruit of various environment；3, during collecting fruit, charging basket exists
It is constantly rotated under the drive of rotating disk, therefore fruit relatively uniform can be accumulated in charging basket, without being deposited in charging basket
At some position, space waste and fruit is avoided to accumulate unstable phenomenon；4, after charging basket is collected completely, pedestal is obliquely overturn, material
Basket can slide into charging basket and keep in seat, to realize from basket is moved, save manpower.
Description of the drawings
Attached drawing 1 is the axis surveys view of the automatic seed harvester of fruit of the present invention；
Attached drawing 2 is the axis surveys view of another angle of the automatic seed harvester of fruit of the present invention；
Attached drawing 3 is the front view of the automatic seed harvester of fruit of the present invention
Attached drawing 4 is the left view of the automatic seed harvester of fruit of the present invention；
Attached drawing 5 is the vertical view of the automatic seed harvester of fruit of the present invention；
Attached drawing 6 is the axis surveys view of the picker of the automatic seed harvester of fruit of the present invention；
Attached drawing 7 is the axis surveys view of another angle of picker of the automatic seed harvester of fruit of the present invention；
Attached drawing 8 is the vertical view of the picker of the automatic seed harvester of fruit of the present invention；
Attached drawing 9 is that the picker clip claw assembly of the automatic seed harvester of fruit of the present invention catches the vertical view after fruit；
Attached drawing 10 is the axis surveys view of the collection device of the automatic seed harvester of fruit of the present invention；
Attached drawing 11 is the axis surveys view of the guide platform and clean and jerk arm of the automatic seed harvester of fruit of the present invention；
Attached drawing 12 is the axis surveys view of the collection device of the automatic seed harvester of fruit of the present invention；
Attached drawing 13 is the side view of the collection device of the automatic seed harvester of fruit of the present invention；
Attached drawing 14 is that the pedestal of the present invention is in the axis surveys view of collection device when changing basket working condition；
Attached drawing 15 is the principle sketch of the turnover driving mechanism of the present invention；
Attached drawing 16 is the control system schematic diagram of the present invention；
Wherein：1, engine base；2, picker；21, crane；22, lift drive mechanism；23, pedestal；24, translational drive mechanism；
25, clip claw assembly；251, the first clamping jaw；252, the second clamping jaw；253, clamping jaw drives cylinder；254, first axle；255, the second axis；
256, third axis；257, the 4th axis；258, drive block；259, first connecting rod；250, second connecting rod；26, cutting assemblies；261,
One blade bar；262, the second blade bar；263, shearing driving cylinder；264, drive rod；3, collection device；31, guide platform；311、
Guide channel；312, charging conduit；32, collecting mechanism；321, pedestal；322, rotating disk；323, rotary drive；4, blanker
Structure；41, feeding mouth；42, discharge port；43, material blanking tube；44, clean and jerk arm；45, material transfer channel；46, blanking funnel；5, charging basket；6、
Charging basket keeps in seat；7, turnover driving mechanism；71, leading screw；72, nut；73, turn drive motor；74, mandril；100, fruit.
Specific implementation mode
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
Include referring to Fig. 1 to a kind of automatic seed harvester of fruit shown in figure 15, including mechanical device, the mechanical device：
Engine base 1, the travel driving unit 12 with automatic traveling mechanism 11 and for driving automatic traveling mechanism 11 to work；
Picker 2 comprising can along the vertical direction up and down be set to engine base 1 on crane 21, for driving crane
The lift drive mechanism 22 of 21 liftings, is used the pedestal 23 that can be set to along the longitudinal direction with respect to sliding extension on crane 21
In the translational drive mechanism 24 for driving 23 OQ t frame 21 of pedestal to stretch along the longitudinal direction, and set on 23 front end of pedestal
Clip claw assembly 25 and cutting assemblies 26.
Wherein, clip claw assembly 25 is pivotally connected in the folder of the first clamping jaw 251 and second on pedestal 23 respectively including rear end
Pawl 252, and make the first clamping jaw 251 and the second clamping jaw for driving the first clamping jaw 251 and the second clamping jaw 252 to relatively rotate
252 relatively rotate the clamping jaw driving mechanism opened or be closed, the front end of the front end of the first clamping jaw 251 and the second clamping jaw 252
Form the clamping part for fruit to be clamped；Cutting assemblies 26 are set to the front end of pedestal 23 and positioned at clip claw assemblies 25
Top, cutting assemblies 26 include scissors, and scissors has the first blade bar that rear portion intersects and connected in infall phase pivot
261 and the second blade bar 262, the first blade bar 261 and the second blade bar 262 have cooperate for the root to fruit into
The cut part of row shearing, cut part are located at the top of clamping part, cutting assemblies 26 further include for drive the first blade bar 261 and
Second blade bar, the 262 opposite shear driving mechanism opened or close up relatively；
Collection device 3, including the guide platform 31 being obliquely installed along the vertical direction and be divided into below 31 both ends of guide platform two
Group collecting mechanism 32, guide platform 31 have the guide channel 311 extended along its length, and the upper end of guide platform 31 is further opened with
It is connected with guide channel 311 and charging conduit 312 perforative along the vertical direction, the groove width of charging conduit 312 is less than guide channel 311
Width, every group of collecting mechanism 32 include pedestal 321, around vertical direction extend axial line rotatably be set to pedestal 321 on
And the rotating disk 322 for putting charging basket 5, and the rotary drive 323 for driving rotating disk 322 to rotate；
Doffer 4, with feeding mouth 41 and discharge port 42, feeding mouth 41 is located at the lower section of the clamping part of clip claw assembly 25,
Discharge port 42 connects with the top in guide channel 311.
The seed harvester further includes control system, shown in Figure 16, which includes：
Fruit identification device includes the camera shooting for acquiring image in the visual field in real time during automatic traveling mechanism is walked
Head, the image for taking camera carry out color contrast with preset image and are identified as into when the two color is identical
The target marker of ripe fruit；
Position sensor is connect with fruit identification device signal, and position sensor identifies mellow fruit in the target marker
The centre coordinate of the ripening fruits is obtained in real time；
Controller, respectively with position sensor, 24 signal of travel driving unit 12, lift drive mechanism 22 and translational drive mechanism
Connection, the controller control the travel driving unit 12 according to the centre coordinate that the position sensor obtains, rise
Driving mechanism 22 and the working condition of translational drive mechanism 24 drop.
In the present embodiment, it is specifically configured as follows：
Automatic traveling mechanism 11 is creeper undercarriage, can preferably adapt to the complicated landform in orchard in this way, base in picker 2
The direction that the flexible direction of frame 23 is advanced with creeper undercarriage 11 is mutually perpendicular to, and the seed harvester is when walking to its both sides
Fruit on fruit tree is picked automatically.
The bottom of engine base 1 be equipped with find preset track route label tracing sensor, automatic traveling mechanism 11 with track
Sensor signal connects and controls the working condition of travel driving unit 12 according to the route information that tracing sensor obtains.
The workflow of control system is as shown in figure 16, and tracing sensor obtains route information and controls travel driving unit
12, seed harvester is marked according to default track route to advance, while camera collection image, and target marker is by collected figure
As carrying out color contrast with preset image, judge whether fruit is ripe and is identified as waiting picking when judging fruit maturation
Object.Position sensor obtains the centre coordinate of ripening fruits that target marker identifies, position sensor is by ripening fruits
Centre coordinate pass to controller, controller controls travel driving unit 12, elevator drive machine further according to the centre coordinate
Structure 22 moves about picking mechanism to ripening fruits with translational drive mechanism 24 so that the center of ripening fruits to be picked is sat
Mark is in the center position of clamping part on clip claw assembly 25.Then controller controls clamping jaw driving mechanism and drives the first clamping jaw again
251 and second clamping jaw 252 close up, fruit is clamped to be fixed, and subsequent controller control shear driving mechanism drives the first blade bar
261 and second blade bar 262 close up, fruit root is cut, and then the first clamping jaw 251 and the second clamping jaw 252 open, and fruit is fallen
Enter in doffer 4.
Shown in Figure 12 to Figure 14, in every group of collecting mechanism 32, rotating disk 322 is that outside circumference is evenly equipped with multiple teeth
Fluted disc, rotary drive 323 include rotary drive motor, the worm screw being drivingly connected on the output shaft of rotary drive motor,
The worm screw is intermeshed to form worm gear structure with above-mentioned fluted disc, and rotary drive motor can drive rotating disk 322 around its axis
Line rotates.In certain embodiments, collecting mechanism 32 can also include the rotation control for controlling rotary drive working condition
Device processed, and for detecting the detection for whether having in charging basket 5 and increasing fruit and sending out trigger signal after detecting increase fruit
Device, detector is connect with Rotation Controllers signal and control rotary drive works and makes rotating disk after receiving the trigger signal
322 rotate according to set angle so that fruit is equably fallen into charging basket 5, and avoids going out at the same position of charging basket 5 as possible
The phenomenon that now stacking.
The center line that pedestal 321 can extend around horizontal direction is rotatably disposed on engine base 1, on engine base 1 also fixedly
Seat 6 is kept in equipped with charging basket, charging basket keeps in the side that seat 6 is set to pedestal 321, and charging basket, which keeps in seat 6, has the appearance for housing multiple charging baskets 5
Receive region, collection device 3 further includes the turnover driving mechanism 7 for driving pedestal 321 to keep in towards charging basket the overturning of seat 6.
Turnover driving mechanism 7 includes the leading screw 71 being rotatably set on engine base 1 around Pivot Point Center line, is ordinatedly set to leading screw
Nut 72 on 71, the turn drive motor 73 for driving leading screw 71 to rotate and provided at one be connected on nut 72 and
The other end is pivotally connected in the mandril 74 on pedestal 321, and pedestal 321 keeps in one end of seat 6 close to charging basket and 1 pivot of engine base connects
It connecing, pedestal 321 has collection work state and changes a basket working condition, when pedestal 321 is in collection work state, rotating disk
322 is horizontally disposed, is located at the charging basket 5 in rotating disk 322 and 322 not relative motion of rotating disk；Basket work is changed when pedestal 321 is in
When state, pedestal 321 overturns and so that rotating disk 322 is kept in seat 6 towards charging basket and tilt, and the charging basket 5 being located in rotating disk 322 slides into
Charging basket is kept in seat 6.
The motion principle of turnover driving mechanism 7 is as shown in figure 15, and turn drive motor 73 drives leading screw 71 around own axes
Rotation drives nut 72 to be moved along the extending direction of leading screw 71, and by the transmission of mandril 74, pedestal 321 can be turned over respect to engine base 1
Turn, therefore control pedestal 32 can be gone to turn in collection work state and between changing basket working condition by controlling the position of nut 72
It changes.
Charging basket keeps in the same side that seat 6 is set to two groups of collecting mechanisms 32, and turnover driving mechanism 7 drives two pedestals 321 same
Shi Chaoxiang charging baskets are kept in seat 6 and are overturn,
In the present embodiment, turnover driving mechanism 7 is set as two groups, two 321 split settings of pedestal of two groups of collecting mechanisms 32, often
One group of turnover driving mechanism 7 is respectively provided between a pedestal 321 and engine base 1.In other some embodiments, it can also will turn over
Turn driving mechanism 7 and be set as one group, two pedestals 321 of two groups of collecting mechanisms 32 are fixedly connected or are wholely set；Alternatively, two
Two 321 split settings of pedestal of group collecting mechanism 32, the tool of turnover driving mechanism 7 there are two mandril 74, two mandrils 74 it is upper
End is connect with two 321 phase pivots of pedestal respectively, and the lower end of two mandrils 74 is pivotally connected in respectively on nut 72.More than
The set-up mode of several turnover driving mechanisms 7 can realize that two pedestals 321 are kept in seat 6 simultaneously towards charging basket and overturn.
Shown in Figure 10 to Figure 11, doffer 4 includes the blanking of the fruit 100 for accepting the acquisition of picker 2
Pipe 43 tilts and extends and the clean and jerk arm 44 that is pivotally connected on 31 upper end of guide platform of upper end and be used for along the vertical direction
The clean and jerk actuator for driving clean and jerk arm to overturn in the vertical direction（It is not shown in figure）, material blanking tube 43 vertically extends, and
The lower nozzle of material blanking tube 43 connects with the lower part of clean and jerk arm 44, has the material transfer channel extended along its length on arm 44 of jerking
45, blanking funnel 46 is fixedly provided in the upper end tube nozzle of material blanking tube 43, blanking funnel 46 is located at the lower section of clamping part, blanking leakage
The oral area of bucket 46 forms feeding mouth 41；The upper end oral area in material transfer channel 45 forms discharge port 42.Fruit is enabled to be cut in this way
It cuts away with enough blanking height when falling, is then overturn by clean and jerk arm 44 and be transmitted in collection device 3 and be collected, effectively
Ground reduces the total height of equipment, and adapts to the picking of fruit at lower position.
Shown in Figure 7, clamping jaw driving mechanism includes clamping jaw driving cylinder 253, and the cylinder body of clamping jaw driving cylinder 253 is fixed
On pedestal 23 and its telescopic rod extends along the longitudinal direction, and the front end of the telescopic rod, which is permanently connected, drive block 258, the first folder
The rear end of pawl 251 is pivotally connected in by first axle 254 on pedestal 23, and the rear end of the second clamping jaw 252 passes through 255 pivot of the second axis
It is connected on pedestal 23, clamping jaw driving mechanism further includes that one end is pivotally connected in by third axis 256 on the first clamping jaw 251 and another
First connecting rod 259 that provided at one is connected on drive block 258, one end are pivotally connected in the second clamping jaw 252 by the 4th axis 257
The upper and other end is pivotally connected in the second connecting rod 250 on drive block 258, wherein third axis 256 is located at clamping part and first axle
Between 254, the 4th axis 257 is located between clamping part and the second axis 255.When clamping jaw driving cylinder 253 forward extends out telescopic rod, drive
Motion block 258 pulls first connecting rod 259 and second connecting rod 260, to drive the first clamping jaw 251 and the second clamping jaw 252 to come closer,
Backward after retraction clamping jaw driving cylinder 253, the first clamping jaw 251 and the second clamping jaw 252 are flared out telescopic rod.Clamping jaw drives cylinder
253 can abreast be arranged it is multiple to increase chucking power.
Shown in Fig. 8, Fig. 9, shear driving mechanism includes shearing driving cylinder 263, the cylinder body of shearing driving cylinder 263
It is fixedly arranged on pedestal 23 and the axial line of its telescopic rod extends along the longitudinal direction, shear driving mechanism further includes drive rod 264, is driven
The back pivot of lever 264 is connected on the front end of telescopic rod, and the front of drive rod 264 is pivotally connected in the second blade bar 262
Rear portion on, the rear portion of the first blade bar 261 is fixedly attached on pedestal 23.When the telescopic rod of shearing driving cylinder 263 is stretched
When going out, the second blade bar 262, which is pushed, to be rotated, and scissors is in open configuration, when the telescopic rod of shearing driving cylinder 263 is shunk
When, scissors is in closed state.
When the automatic seed harvester of the fruit starts to pick work, between the first blade bar 261 and the second blade bar 262, the
All in opposite open configuration between one clamping jaw 251 and the second clamping jaw 252, tracing sensor obtains route information control walking and drives
Dynamic device, seed harvester is marked according to default track route to advance, while camera collection image, target marker will collect
Image and preset image carry out color contrast, judge whether fruit ripe.When fruit identification device has recognized mellow fruit
In real time, position sensor obtains its centre coordinate and obtains the position data of fruit to be picked, and controller is according to position sensor
Fruit position data driving travel driving unit 12, lift drive mechanism 22 and translational drive mechanism 24, realize control picking
Mechanism 2 is nearby moved to fruit 100, when among fruit 100 being in clamping part, picker stop motion, with rear clip-claw
Driving cylinder 253 forward extends out telescopic rod, and the first clamping jaw 251 and the second clamping jaw 252 come closer and clamp fruit 100（Such as Fig. 9 institutes
Show）, then shearing driving cylinder 263 retract backward telescopic rod, scissors is closed and cuts the root of fruit 100, realizes that fruit tree is divided
From.
Subsequent cutting assemblies 26 reset, and retraction telescopic rod makes the first clamping jaw 251 and second press from both sides to clamping jaw driving cylinder 253 backward
Pawl 252 is flared out, and fruit 100 is fallen into material blanking tube 43, finally enters the material transfer channel 45 in clean and jerk arm 44, actuator of jerking
Drive clean and jerk arm 44 to overturn, fruit 100 rolls into behind guide channel 311 and carries out size sorting through guide platform 31, small size through falling
It is fallen into hopper 312 in charging basket 5 below, it is large-sized to be tumbled into another charging basket 5 downwards along guide channel 311, it realizes
The automatic sorting and separate collection of big fruit and fruitlet.
During collection, the rotating disk 322 of collecting mechanism 32 keeps rotation status or increases receiving fruit
Signal after by set angle rotate so that fruit uniform collection in charging basket 5.After charging basket 5 is filled, turnover driving mechanism 7
It drives pedestal 321 to keep in seat 6 towards charging basket to overturn, the slide-in charging basket of charging basket 5 keeps in the housing region in seat 6, turnover driving mechanism 7
When pedestal 321 being driven to become collection work state, new empty charging basket 5 is placed in rotating disk 322, a basket process is changed in completion.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of automatic seed harvester of fruit, including mechanical device, which is characterized in that the mechanical device includes：
Engine base, the travel driving unit with automatic traveling mechanism and for driving the automatic traveling mechanism work；
Picker comprising can along the vertical direction up and down be set to the engine base on crane, for driving the liter
The lift drive mechanism for dropping frame lifting, is used the pedestal that can be set to along the longitudinal direction with respect to sliding extension on the crane
In the translational drive mechanism for driving the relatively described crane of the pedestal to stretch along the longitudinal direction, and it is set to the pedestal front end
The clip claw assembly and cutting assemblies in portion,
Wherein, the clip claw assembly includes the first clamping jaw and the second clamping jaw that rear end is pivotally connected in respectively on the pedestal,
And first clamping jaw and the second clamping jaw is set to relatively rotate for driving first clamping jaw and the second clamping jaw to relatively rotate
The clamping jaw driving mechanism opened or be closed, the front end of the front end of first clamping jaw and second clamping jaw formed for pair
The clamping part that fruit is clamped；The cutting assemblies are set to the front end of the pedestal and positioned at the upper of the clip claw assembly
Side, the cutting assemblies include scissors, and the scissors has the first knife that rear portion intersects and connected in infall phase pivot
Sword bar and the second blade bar, the first blade bar and the second blade bar have cooperate for the root to the fruit into
The cut part of row shearing, the cut part are located at the top of the clamping part, and the cutting assemblies further include described for driving
First blade bar opening opposite with the second blade bar or the opposite shear driving mechanism closed up；
Collection device, including the guide platform being obliquely installed along the vertical direction and two groups be divided into below guide platform both ends
Collecting mechanism, the guide platform have the guide channel that extends along its length, the upper end of the guide platform be further opened with
The guide channel is connected and charging conduit perforative along the vertical direction, and the groove width of the charging conduit is less than the guide channel
Width, collecting mechanism described in every group include pedestal, around vertical direction extend axial line rotatably be set to the pedestal on and
Rotating disk for putting charging basket, and the rotary drive for driving the rotation disc spins；
Doffer, with feeding mouth and discharge port, the feeding mouth is located under the clamping part of the clip claw assembly
Side, the discharge port connect with the top in the guide channel.
2. the automatic seed harvester of fruit according to claim 1, it is characterised in that：The seed harvester further includes control system
System, the control system include：
Fruit identification device includes for acquiring taking the photograph for image in the visual field in real time during the automatic traveling mechanism is walked
Image as head, for taking the camera carries out color contrast with preset image and knows when the two color is identical
Not Wei ripening fruits target marker,
Position sensor is connect with the fruit identification device signal, and the position sensor is identified in the target marker
The centre coordinate of the ripening fruits is obtained when going out ripening fruits；
Controller connects with the position sensor, travel driving unit, lift drive mechanism and translational drive mechanism signal respectively
It connects, the controller controls the travel driving unit according to the centre coordinate that the position sensor obtains, lifting is driven
The working condition of motivation structure and translational drive mechanism.
3. the automatic seed harvester of fruit according to claim 1, it is characterised in that：The automatic traveling mechanism is crawler belt row
Mechanism is walked, the direction that the flexible direction of pedestal described in the picker is advanced with the creeper undercarriage is mutually perpendicular to.
4. the automatic seed harvester of fruit according to claim 1, it is characterised in that：The bottom of the engine base, which is equipped with, to be found in advance
If the tracing sensor of track route label, the travel driving unit are connect and with the tracing sensor signal according to described
The route information that tracing sensor obtains controls the working condition of the travel driving unit.
5. the automatic seed harvester of fruit according to claim 1, it is characterised in that：In the collecting mechanism, the pedestal
The center line that can extend around horizontal direction is rotatably disposed on the engine base, and it is temporary that charging basket is also fixedly provided on the engine base
Seat is deposited, the charging basket keeps in the side that seat is set to the pedestal, and the charging basket, which keeps in seat tool, the appearance of accommodating multiple charging baskets
Receive region, the collection device further includes the overturning driving machine for driving the pedestal to keep in towards the charging basket seat overturning
Structure.
6. the automatic seed harvester of fruit according to claim 5, it is characterised in that：The turnover driving mechanism includes around certainly
Body axial line is rotatably set to the leading screw on the engine base, the nut being ordinatedly set on the leading screw, for driving the silk
The turn drive motor and provided at one is connected on the nut and the other end is pivotally connected on the pedestal that thick stick rotates
Mandril, the pedestal, which has, collection work state and changes a basket working condition, when the pedestal is in collection work state, institute
It is horizontally disposed to state rotating disk；When the pedestal, which is in, changes basket working condition, the pedestal overturning and make the rotating disk direction
The charging basket is kept in seat and is tilted.
7. the automatic seed harvester of fruit according to claim 6, it is characterised in that：The charging basket keeps in seat and is set to two groups of institutes
The same side of collecting mechanism is stated, the turnover driving mechanism drives two pedestals to keep in seat simultaneously towards the charging basket and turns over
Turn, wherein
The turnover driving mechanism is set as one group, and two pedestals of collecting mechanism described in two groups are fixedly connected or one
Setting；Alternatively, two pedestal split settings of collecting mechanism described in two groups, there are two described for the turnover driving mechanism tool
Mandril, the upper end of two mandrils connect with two pedestal phase pivots respectively, the lower end of two mandrils
It is pivotally connected in respectively on the nut.
8. the automatic seed harvester of fruit according to claim 1, it is characterised in that：The doffer includes for accepting
The material blanking tube of the fruit of the picker acquisition, inclination extends along the vertical direction and upper end is pivotally connected in the guide platform
Clean and jerk arm on upper end and the clean and jerk actuator for driving the clean and jerk arm to overturn in the vertical direction, the blanking
Pipe vertically extends, and the lower nozzle of the material blanking tube connects with the lower part of the clean and jerk arm, has on the clean and jerk arm
There is the material transfer channel extended along its length,
Blanking funnel is fixedly provided in the upper end tube nozzle of the material blanking tube, the blanking funnel is located under the clamping part
The oral area of side, the blanking funnel forms the feeding mouth；The upper end oral area in the material transfer channel forms the discharge port.
9. the automatic seed harvester of fruit according to claim 1, it is characterised in that：The clamping jaw driving mechanism includes clamping jaw
Cylinder is driven, the cylinder body of the clamping jaw driving cylinder is fixed on the pedestal and its telescopic rod extends along the longitudinal direction, described
The front end of telescopic rod, which is permanently connected, drive block, and the rear end of first clamping jaw is pivotally connected in the pedestal by first axle
On, the rear end of second clamping jaw is pivotally connected in by the second axis on the pedestal, and the clamping jaw driving mechanism further includes one
End is pivotally connected in by third axis on first clamping jaw and the other end be pivotally connected in first connecting rod on the drive block,
One end is pivotally connected on second clamping jaw by the 4th axis and the other end is pivotally connected in the second company on the drive block
Bar, wherein the third axle position is between the clamping part and the first axle, and the 4th axle position is in the clamping part and institute
It states between the second axis.
10. the automatic seed harvester of fruit according to claim 1, it is characterised in that：The shear driving mechanism includes cutting
Cut driving cylinder, the cylinder body of the shearing driving cylinder be fixedly arranged on the pedestal and the axial line of its telescopic rod along the longitudinal direction
Extend, the shear driving mechanism further includes drive rod, and the back pivot of the drive rod is connected to the front end of the telescopic rod
On, the front of the drive rod is pivotally connected on the rear portion of the second blade bar, and the rear portion of the first blade bar is fixed
Ground is connected on the pedestal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810337518.2A CN108377740B (en) | 2018-04-16 | 2018-04-16 | Automatic fruit picking equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810337518.2A CN108377740B (en) | 2018-04-16 | 2018-04-16 | Automatic fruit picking equipment |
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| CN108377740A true CN108377740A (en) | 2018-08-10 |
| CN108377740B CN108377740B (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810337518.2A Active CN108377740B (en) | 2018-04-16 | 2018-04-16 | Automatic fruit picking equipment |
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| CN109041775A (en) * | 2018-08-28 | 2018-12-21 | 河南科技大学 | A kind of unilateral clamping pineapple picker and its application method |
| CN109051035A (en) * | 2018-10-19 | 2018-12-21 | 滨州学院 | A kind of absorption type fruit picking packaging integrated machine |
| CN109168594A (en) * | 2018-09-11 | 2019-01-11 | 广东宏穗晶科技服务有限公司 | Robot is used in a kind of picking of tomato |
| CN109258110A (en) * | 2018-11-06 | 2019-01-25 | 天津科技大学 | A kind of controllable type indirect labor fruit-picking machine |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A kind of self-balancing type apple-picking vehicle |
| CN109335649A (en) * | 2018-09-26 | 2019-02-15 | 重庆巴奥科技有限公司 | A kind of random distribution crawl refinement method put for intelligent cargo |
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| CN110463441A (en) * | 2019-08-07 | 2019-11-19 | 徐州盛斗士生物科技有限公司 | A kind of heat transfer Ramulus euonymi air-flow stirs selectivity and positions lossless harvesting separating trolley |
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| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
| CN111824487A (en) * | 2020-07-11 | 2020-10-27 | 黄秉润 | Fruit picking and packaging equipment and working method thereof |
| CN112753374A (en) * | 2021-01-25 | 2021-05-07 | 桂林航天工业学院 | Ware is picked to simple and easy semi-automatic mangosteen |
| CN113348868A (en) * | 2021-07-18 | 2021-09-07 | 扬州大学 | Self-propelled variable-ground-clearance solanaceous vegetable picking machine |
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| CN109041775A (en) * | 2018-08-28 | 2018-12-21 | 河南科技大学 | A kind of unilateral clamping pineapple picker and its application method |
| CN109041775B (en) * | 2018-08-28 | 2020-10-16 | 河南科技大学 | Single-side clamped pineapple picking device and using method thereof |
| CN109168594A (en) * | 2018-09-11 | 2019-01-11 | 广东宏穗晶科技服务有限公司 | Robot is used in a kind of picking of tomato |
| CN110393089A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | High-altitude fruit acquisition system and its operating method |
| CN109335649A (en) * | 2018-09-26 | 2019-02-15 | 重庆巴奥科技有限公司 | A kind of random distribution crawl refinement method put for intelligent cargo |
| CN109051035A (en) * | 2018-10-19 | 2018-12-21 | 滨州学院 | A kind of absorption type fruit picking packaging integrated machine |
| CN109258110A (en) * | 2018-11-06 | 2019-01-25 | 天津科技大学 | A kind of controllable type indirect labor fruit-picking machine |
| CN109429724A (en) * | 2018-12-14 | 2019-03-08 | 广西建设职业技术学院 | A kind of automatic harvester |
| CN109429724B (en) * | 2018-12-14 | 2023-12-22 | 广西建设职业技术学院 | Automatic picking device |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A kind of self-balancing type apple-picking vehicle |
| CN109606422A (en) * | 2019-02-18 | 2019-04-12 | 中国铁路沈阳局集团有限公司科学技术研究所 | A kind of passenger train water-feeding mechanical arm |
| CN110063140A (en) * | 2019-05-28 | 2019-07-30 | 唐山学院 | A kind of vibration picking harvesting apparatus of high spindle tree-shaped apple tree |
| CN110463441A (en) * | 2019-08-07 | 2019-11-19 | 徐州盛斗士生物科技有限公司 | A kind of heat transfer Ramulus euonymi air-flow stirs selectivity and positions lossless harvesting separating trolley |
| CN110352703A (en) * | 2019-08-15 | 2019-10-22 | 成秀东 | A kind of Intelligentized mechanical harvesting apparatus |
| CN111226602A (en) * | 2020-04-04 | 2020-06-05 | 邵志远 | Be used for full-automatic diversified regulation of pomegranate to pick equipment |
| CN111615930A (en) * | 2020-05-22 | 2020-09-04 | 泉州信息工程学院 | Intelligent fruit picking device and working method thereof |
| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
| CN111699839B (en) * | 2020-06-22 | 2022-04-22 | 威海美达智能电子科技有限公司 | Remote picking equipment and method based on 5G network |
| CN111824487A (en) * | 2020-07-11 | 2020-10-27 | 黄秉润 | Fruit picking and packaging equipment and working method thereof |
| WO2022088560A1 (en) * | 2020-10-27 | 2022-05-05 | 张广宾 | Self-adaptive oil palm fruit picking cutter, and picking execution device |
| CN112753374A (en) * | 2021-01-25 | 2021-05-07 | 桂林航天工业学院 | Ware is picked to simple and easy semi-automatic mangosteen |
| CN113383642A (en) * | 2021-07-12 | 2021-09-14 | 扬州大学 | Intelligent melon and vegetable picking robot and picking method thereof |
| CN113383642B (en) * | 2021-07-12 | 2022-08-05 | 扬州大学 | Intelligent picking method for melons and vegetables |
| CN113348868A (en) * | 2021-07-18 | 2021-09-07 | 扬州大学 | Self-propelled variable-ground-clearance solanaceous vegetable picking machine |
| CN114451147A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Automatic picking equipment |
| CN114451146A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Fruit and vegetable picking method and system |
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